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sbpl on Hydro compilation error

asked 2014-06-11 03:03:05 -0500

acp gravatar image

updated 2014-06-11 03:03:32 -0500

Dear all.

I just compiled navigation_experimental-hydro-devel with catkin-make in ROS hydro. However, it does not compile due to changes in costmap2d.

Just wondering if there might be any patches or some solution to make sbpl compile in hydro.

In advance thank you.

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Hi, thank you very much for your answer, I have solved the issues with unicycleplussidewaysplusbackturn.mprim, however I have another issue, Sometimes it get stuck when it gets trap in inflated obstacles even though there is enough space around the robot. I found the package sbpl_recovery in this site thttps://github.com/ros-planning/navigation_experimental/tree/hydro-devel/sbpl_recovery hat I think it could help to recover when the robot gets trap. But the package does compile under Hydro due to changes in costmap2d. Or is there some other solution.

acp gravatar imageacp ( 2014-06-30 06:21:20 -0500 )edit

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answered 2014-06-11 03:10:45 -0500

ahendrix gravatar image

Johannes Meyer and I both have branches of the sbpl_lattice_planner that compile and run on Hydro:

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Thank you very much, I download it and then I could compile it under hydro, just one question; is it possible to test the package with the launch file `sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch` or in other words, how can I test the package?

acp gravatar imageacp ( 2014-06-11 05:46:33 -0500 )edit

Or maybe you may have a launch file to take a look at it :), I mean how to include sbpl_lattice_planner in the navigation stack

acp gravatar imageacp ( 2014-06-11 06:21:02 -0500 )edit

My application and the setup is a little bit messy. I don't really have time to explain it, but my top-level launch file is https://github.com/trainman419/dagny_nav/blob/master/dagny_nav_launch/dagny_nav.launch .

ahendrix gravatar imageahendrix ( 2014-06-11 12:17:49 -0500 )edit

thank you very much, however dont you need some hoe run the package "sbpl_lattice_planner" or where you get

acp gravatar imageacp ( 2014-06-11 13:16:08 -0500 )edit

I don't have time to explain it. Go read the nav stack docs.

ahendrix gravatar imageahendrix ( 2014-06-11 13:35:13 -0500 )edit

@acp: You need to set "base_global_planner" parameter to "SBPLLatticePlanner" - planner will be loaded at runtime. It's same as with other planners - you don't need to run them separately. See this: https://github.com/trainman419/dagny_nav/blob/master/dagny_nav_launch/dagny_nav.yaml

ZdenekM gravatar imageZdenekM ( 2014-06-12 06:08:57 -0500 )edit

@acp: i also compiled that stack with catkin_make in hydro, got two errors. (no exist SBPLLatticePlannerStats.h and changes in costmap2d),how do you clean those files built by catkin_make navigation_experimental-hydro-devel ,and downloaded "Johannes's"or "ahendrix's" to catkin_make??

jxl gravatar imagejxl ( 2014-09-17 23:12:05 -0500 )edit

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Asked: 2014-06-11 03:03:05 -0500

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Last updated: Jun 11 '14